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Thread: GRASP Laboratory, University of Pennsylvania, Philadelphia, Pennsylvania, USA

  1. #1

    GRASP Laboratory, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    GRASP lab - general robotics, automation, sensing & perception laboratory at Penn

    Website -

    Kodlab a subsidiary of the Penn Engineering GRASP Lab

    Director - Daniel Lee

    Professor - Vijay Kumar


    Micro Bio Robots

    Fast Lightweight Autonomy (FLA) program, DARPA

    Titan Arm, upper body exoskeleton

    DORA (Dexterous Observational Roving Automaton), teleoperated robotic platform

  2. #2

    Avian-Inspired Grasping For Quadrotor Micro Aerial Vehicles

    Published on Feb 7, 2013

  3. #3

    Bio-inspired swarms of small aerial robots

    Published on Oct 14, 2016

    One of the main challenges in robot swarming arises from the need to design controllers that guarantee safety and motion planners that guarantee collision avoidance. This translates into sensors that measure proximity to neighbors and algorithms that scale exponentially with the number of robots. In many cases, these problems are solved very differently in nature, especially at smaller scales. The penalty due to collisions is small at these scales and sensors and controllers are not precise enough to guarantee collision free trajectories. We explore a similar approach with small flying robots. We present a design that is capable of sustaining collisions, controllers that are able to recover from collisions, and simple motion planners that allow the robots to navigate an environment without complete knowledge of the environment. We illustrate the potential of bio-inspired swarms using simulations and experimental results.

    Work done by: Yash Mulgaonkar, Luis Guerrero-Bonilla, Anurag Makineni and Vijay Kumar

    Submitted to the Journal of The Royal Society Interface Focus 2016.

  4. #4

    A flying gripper based on Cuboid Modular Robots

    Published on Sep 21, 2017

    We present a novel flying modular platform capable of grasping and transporting objects. It is composed of four cooperative identical modules where each is based on a quadrotor within a cuboid frame with a docking mechanism. Pair of modules are able to fly independently and physically connect by matching their vertical edges forming a hinge. Four one degree of freedom (DOF) connections results in a one DOF four-bar linkage that can be used to grasp external objects.

  5. #5

    ModQuad: the flying modular structure that self-assembles in midair

    Published on Sep 21, 2017

    We introduce ModQuad, a novel flying modular robotic structure that is able to self-assemble in midair and cooperatively fly. The structure is composed by agile flying modules that can easily move in a three dimensional environment. The module is based on a quadrotor platform within a cuboid frame which allows it to attach to other modules by matching vertical faces. Using this mechanism, a ModQuad swarm is able to rapidly assemble flying structures in midair using the robot bodies as building units.

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